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Add sequence ID, capture, publish and recieve timestamp to PhotonPipelineResult (#1305)

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Closes #1304
This commit is contained in:
Matt
2024-05-10 14:04:34 -04:00
committed by GitHub
parent 70c2cdebe0
commit 113951100e
46 changed files with 513 additions and 363 deletions
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44
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -63,7 +63,9 @@ class PhotonPoseEstimatorTest {
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -122,7 +124,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setTimestampSeconds(11);
cameraOne.result.setRecieveTimestampMicros((long) (11 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -142,7 +144,9 @@ class PhotonPoseEstimatorTest {
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -202,7 +206,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setTimestampSeconds(4);
cameraOne.result.setRecieveTimestampMicros((long) (4 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -225,7 +229,9 @@ class PhotonPoseEstimatorTest {
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -284,7 +290,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setTimestampSeconds(17);
cameraOne.result.setRecieveTimestampMicros((long) (17 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -308,7 +314,9 @@ class PhotonPoseEstimatorTest {
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -367,7 +375,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setTimestampSeconds(1);
cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -383,7 +391,9 @@ class PhotonPoseEstimatorTest {
cameraOne.result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -442,7 +452,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
cameraOne.result.setTimestampSeconds(7);
cameraOne.result.setRecieveTimestampMicros((long) (7 * 1e6));
estimatedPose = estimator.update();
pose = estimatedPose.get().estimatedPose;
@@ -458,7 +468,9 @@ class PhotonPoseEstimatorTest {
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
var result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -479,7 +491,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8)))));
result.setTimestampSeconds(20);
result.setRecieveTimestampMicros((long) (20 * 1e6));
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(
@@ -490,7 +502,7 @@ class PhotonPoseEstimatorTest {
// Empty result, expect empty result
cameraOne.result = new PhotonPipelineResult();
cameraOne.result.setTimestampSeconds(1);
cameraOne.result.setRecieveTimestampMicros((long) (1 * 1e6));
Optional<EstimatedRobotPose> estimatedPose = estimator.update();
assertFalse(estimatedPose.isPresent());
@@ -523,7 +535,9 @@ class PhotonPoseEstimatorTest {
PhotonCameraInjector cameraOne = new PhotonCameraInjector();
cameraOne.result =
new PhotonPipelineResult(
2,
0,
0,
0,
List.of(
new PhotonTrackedTarget(
3.0,
@@ -582,7 +596,7 @@ class PhotonPoseEstimatorTest {
new TargetCorner(3, 4),
new TargetCorner(5, 6),
new TargetCorner(7, 8))))); // 3 3 3 ambig .4
cameraOne.result.setTimestampSeconds(20);
cameraOne.result.setRecieveTimestampMicros(20 * 1000000);
PhotonPoseEstimator estimator =
new PhotonPoseEstimator(